相关论文: Geometric Consistency for Self-Supervised End-to-E…

Recent work has shown that CNN-based depth and ego-motion estimators can be learned using unlabelled monocular videos. However, the performance is limited by unidentified moving objects that violate the underlying static scene assumption in…

Breakthroughs in visual odometry (VO) have fundamentally reshaped the landscape of robotics, enabling ultra-precise camera state estimation that is crucial for modern autonomous systems. Despite these advances, many learning-based VO…

This paper tackles the challenges of self-supervised monocular depth estimation in indoor scenes caused by large rotation between frames and low texture. We ease the learning process by obtaining coarse camera poses from monocular sequences…

Learning based methods have shown very promising results for the task of depth estimation in single images. However, most existing approaches treat depth prediction as a supervised regression problem and as a result, require vast quantities…

Visual-based localization has made significant progress, yet its performance often drops in large-scale, outdoor, and long-term settings due to factors like lighting changes, dynamic scenes, and low-texture areas. These challenges degrade…

This paper proposes a novel approach to stereo visual odometry without stereo matching. It is particularly robust in scenes of repetitive high-frequency textures. Referred to as DSVO (Direct Stereo Visual Odometry), it operates directly on…

Visual-inertial odometry (VIO) is a vital technique used in robotics, augmented reality, and autonomous vehicles. It combines visual and inertial measurements to accurately estimate position and orientation. Existing VIO methods assume a…

The goal of Automatic Voice Over (AVO) is to generate speech in sync with a silent video given its text script. Recent AVO frameworks built upon text-to-speech synthesis (TTS) have shown impressive results. However, the current AVO learning…

Traditional multi-view stereo (MVS) methods rely heavily on photometric and geometric consistency constraints, but newer machine learning-based MVS methods check geometric consistency across multiple source views only as a post-processing…

We present a novel approach to unsupervised learning for video object segmentation (VOS). Unlike previous work, our formulation allows to learn dense feature representations directly in a fully convolutional regime. We rely on uniform grid…

Recently, there are emerging many stereo matching methods for autonomous driving based on unsupervised learning. Most of them take advantage of reconstruction losses to remove dependency on disparity groundtruth. Occlusion handling is a…

Visual localization is the task of estimating camera pose in a known scene, which is an essential problem in robotics and computer vision. However, long-term visual localization is still a challenge due to the environmental appearance…

Intrinsic image decomposition aims to estimate physically based rendering (PBR) parameters such as albedo, roughness, and metallicity from images. While recent methods achieve strong single-view predictions, applying them independently to…

Unsupervised learning based depth estimation methods have received more and more attention as they do not need vast quantities of densely labeled data for training which are touch to acquire. In this paper, we propose a novel unsupervised…

Visual odometry is a fundamental task for many applications on mobile devices and robotic platforms. Since such applications are oftentimes not limited to predefined target domains and learning-based vision systems are known to generalize…

Self-supervision can dramatically cut back the amount of manually-labelled data required to train deep neural networks. While self-supervision has usually been considered for tasks such as image classification, in this paper we aim at…

Reliable estimation of terrain traversability is critical for the successful deployment of autonomous systems in wild, outdoor environments. Given the lack of large-scale annotated datasets for off-road navigation, strictly-supervised…

The perception of transparent objects is one of the well-known challenges in computer vision. Conventional depth sensors have difficulty in sensing the depth of transparent objects due to refraction and reflection of light. Previous…

One of the challenging input settings for visual servoing is when the initial and goal camera views are far apart. Such settings are difficult because the wide baseline can cause drastic changes in object appearance and cause occlusions.…

Recently, learning-based robotic navigation systems have gained extensive research attention and made significant progress. However, the diversity of open-world scenarios poses a major challenge for the generalization of such systems to…